tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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feat: simulation config

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This commit is contained in:
Tibo De Peuter 2026-04-15 19:39:39 +02:00
parent 143dbbc710
commit a724716117
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
8 changed files with 52 additions and 15 deletions
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22
scripts/simulate.py
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@ -29,19 +29,23 @@ MODEL_OPTIONS = sorted(MODEL_BY_NAME)
@hydra.main(config_path="../configs", config_name="main_config", version_base="1.3")
def main(dict_cfg: DictConfig) -> None:
cfg: BrittleStarConfig = OmegaConf.to_object(dict_cfg)
# 1. Convert DictConfig to structured dataclass, ensuring the root schema is applied correctly.
config: BrittleStarConfig = OmegaConf.to_object(
OmegaConf.merge(OmegaConf.structured(BrittleStarConfig), dict_cfg)
)
# Allow overriding these via Hydra CLI or a dedicated simulate config group
# For now, defaults matching the old argparse behavior
backend = Backend.MJX
model_type = "random"
model_path = None
seed = cfg.experiment.seed
# Use the configurable settings from the simulation group
backend = config.simulation.backend
model_type = config.simulation.model_type
model_path = config.simulation.model_path
seed = config.experiment.seed
# ======= ENVIRONMENT SETUP =======
factory = BrittleStarEnvFactory()
raw_env = factory.create_environment(backend, cfg.morphology, cfg.arena, cfg.environment)
env = BrittleStarEnv(raw_env, backend=backend, config=cfg.environment)
raw_env = factory.create_environment(
backend, config.morphology, config.arena, config.environment
)
env = BrittleStarEnv(raw_env, backend=backend, config=config.environment)
state = env.reset(seed=seed)

6
scripts/train.py
View file

@ -22,8 +22,10 @@ def make_env(cfg: BrittleStarConfig) -> BrittleStarJaxEnvWrapper:
@hydra.main(config_path="../configs", config_name="main_config", version_base="1.3")
def main(dict_cfg: DictConfig):
# 1. Convert DictConfig to structured dataclass
config: BrittleStarConfig = OmegaConf.to_object(dict_cfg)
# 1. Convert DictConfig to structured dataclass, ensuring the root schema is applied correctly.
config: BrittleStarConfig = OmegaConf.to_object(
OmegaConf.merge(OmegaConf.structured(BrittleStarConfig), dict_cfg)
)
# 2. Setup run metadata
# Hydra changes CWD to the output directory by default.